35 kV交流输电线路直线塔无人机巡检自动化控制系统设计  

Design of Unmanned Aerial Vehicle Inspection Automation Control System for 35 kV AC Transmission Line Straight Tower

作　　者：邢志坤 XING Zhikun(State Grid Xiongan New Area Electric Power Supply Company,Xiongan 071703,China)

机构地区：[1]国网河北省电力有限公司雄安新区供电公司,雄安071703

出　　处：《自动化与仪表》2024年第6期44-48,共5页Automation & Instrumentation

摘　　要：为解决35 k V交流输电线路直线塔巡检无人机自适应能力差,导致巡检作业易出错中断的问题,该文设计一种新型无人机巡检自动化控制系统。此系统由MPU9250九自由度惯性传感器、加速度计、磁力计,采集输电线路直线塔无人机巡检状态数据,通过积分法、三角函数关系、倾斜补偿方法,解算获取直线塔无人机巡检的姿态、速度、位置数据信息;使用基于模糊PID的自动化控制器,计算无人机巡检的姿态、速度、位置偏差与偏差率,自动调整无人机旋翼转速,控制无人机巡检状态,完成35 kV交流输电线路直线塔无人机巡检自动化控制。实验中,此系统使用下,无人机巡检状态与指定轨迹一致,俯仰角、横滚角、航向角偏差值为0°。To solve the problem of poor adaptive ability of UAV for 35 kV AC transmission line straight tower inspection,which leads to easy errors and interruptions in inspection operations,a new automation control system is designed.This system consists of MPU9250 nine degree of freedom inertial sensors,accelerometers,and magnetometers to collect inspection status data of UAV on transmission line towers.Through integration method,trigonometric function relationship,and tilt compensation method,the attitude,velocity,and position data information of UAV on transmission line towers are calculated and obtained.Using a fuzzy PID based UAV inspection automation controller,calculate the attitude,speed,position deviation and deviation rate of UAV inspection,activate the fuzzy PID controller,automatically adjust the UAV rotor speed,control the UAV inspection status,and complete the automation control of UAV inspection on 35 kV AC transmission line linear tower.In the experiment,under the use of this system,the inspection attitude of the 35 kV AC transmission line straight tower drone was consistent with the specified trajectory,and the deviation values of pitch angle,roll angle,and heading angle were 0°.

关 键 词：35 kV交流输电线路 直线塔 无人机 巡检自动化 控制系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]